Granted Patent B2

US 10,856,870 · App. 16/105,160 · Granted Dec 8, 2020

Inventors: Jason L. Harris (Lebanon, OH); Frederick E. Shelton, IV (Hillsboro, OH); Chester O. Baxter, III (Loveland, OH)

Assignee: Ethicon LLC

A61B17/07207A61B17/00234A61B2017/00039A61B2017/00314A61B2017/00398A61B2017/00477A61B2017/00734A61B2017/07257A61B2017/07271A61B2017/07278A61B2017/07285

Abstract

Claims (38)

1. A surgical instrument, comprising:

a housing;

an elongated shaft assembly operably coupled to said housing and defining a shaft axis;

a surgical end effector defining an end effector axis, wherein said surgical end effector is operably coupled to said elongated shaft assembly for selective articulation relative thereto between a first home position, wherein said end effector axis is aligned with said shaft axis and a maximum articulated position, wherein said end effector axis is positioned at a maximum articulation angle relative to said shaft axis; and

an articulation motor operably supported by said housing, wherein said articulation motor operably interfaces with said surgical end effector to move said surgical end effector between said first home position and said maximum articulated position, wherein said articulation motor is configured to operate at a first motor speed to articulate said end effector from said first home position to a first articulated position, wherein said end effector axis is positioned at a first articulation angle relative to said shaft axis, wherein said first articulation angle is less than said maximum articulation angle, wherein said articulation motor is further configured to operate at a second motor speed to articulate said surgical end effector from said first articulated position to said maximum articulated position, wherein said second motor speed differs from said first motor speed, wherein said articulation motor comprises a rotary articulation drive shaft mechanically linked to a switching system supported by said housing for controlling said first motor speed and said second motor speed, and wherein said switching system comprises:

a first limit switch corresponding to said first home position, wherein said first limit switch communicates with a source of power for said articulation motor;

a second limit switch corresponding to said maximum articulated position, wherein said second limit switch communicates with said source of power; and

a switch traveler movably interfacing with said rotary articulation drive shaft, wherein said switch traveler is configured to move between said first limit switch and said second limit switch as said surgical end effector is articulated between said first home position, said first articulated position, and said maximum articulated position, wherein said switch traveler is configured to actuate said first limit switch when said surgical end effector is in said first home position, and wherein said switch traveler is configured to actuate said second limit switch when said surgical end effector is in said maximum articulated position.

2. The surgical instrument of claim 1 , wherein said articulation motor is configured to operate at said second motor speed to articulate said surgical end effector from said first articulated position to a second articulated position, wherein said end effector axis is positioned at a second articulation angle relative to said shaft axis that is greater than said first articulation angle and less than said maximum articulation angle, and wherein said motor is configured to operate at a third motor speed to articulate said surgical end effector from said second articulated position to said maximum articulated position.

3. The surgical instrument of claim 2 , wherein said third motor speed is equal to said first motor speed.

4. The surgical instrument of claim 1 , wherein said switch traveler is threadably journaled on a switch drive screw that mechanically interfaces with said articulation drive shaft such that when said articulation drive shaft rotates in one rotary direction, said switch drive screw rotates in a first rotary direction and when said articulation drive shaft rotates in an opposite rotary direction, said switch drive screw rotates in a second rotary direction.

5. The surgical instrument of claim 4 , wherein said articulation drive shaft includes a motor drive gear and wherein said switch drive screw includes a control switch gear in meshing engagement with said motor drive gear.

6. The surgical instrument of claim 1 , further comprising means for locking said surgical end effector in any one of said first home position, said first articulated position and said maximum articulated position.

7. The surgical instrument of claim 1 , further comprising an articulation drive assembly, comprising:

a proximal articulation drive shaft rotatably supported by said elongated shaft assembly, wherein said proximal articulation drive shaft is configured to receive rotary actuation motions from said articulation motor; and

a distal articulation drive assembly operably interfacing with said proximal articulation drive shaft and said surgical end effector, wherein said distal articulation drive assembly is configured to move axially in response to rotation of said proximal articulation drive shaft.

8. The surgical instrument of claim 7 , wherein said distal articulation drive assembly further comprises:

an intermediate articulation driver supported for axial travel and threadably attached to said proximal articulation drive shaft such that said intermediate articulation driver moves axially in response to rotation of said proximal articulation drive shaft; and

a distal articulation link attached to said surgical end effector and said intermediate articulation driver.

9. A surgical instrument, comprising:

a housing;

an elongated shaft assembly operably coupled to said housing and defining a shaft axis;

a surgical end effector defining an end effector axis, wherein said surgical end effector is operably coupled to said elongated shaft assembly for selective articulation relative thereto between a central home position, wherein said end effector axis is aligned with said shaft axis and a first maximum articulated position on a first side of said shaft axis, wherein said end effector axis is positioned at a first maximum articulation angle relative to said shaft axis and a second maximum articulated position on a second side of said shaft axis, wherein said end effector axis is positioned at a second maximum articulation angle relative to said shaft axis; and

an articulation motor operably interfacing with said surgical end effector to move said surgical end effector between said central home position and said first and second maximum articulated positions, wherein said articulation motor is configured to operate at a first motor speed to articulate said end effector from said central home position to a first articulated position on said first side of said shaft axis, wherein said end effector axis is positioned at a first articulation angle relative to said shaft axis, wherein said first articulation angle is less than said first maximum articulation angle, wherein said articulation motor is configured to operate at said first motor speed to articulate said end effector from said central home position to a second articulated position on said second side of said shaft axis, wherein said end effector axis is positioned at a second articulation angle relative to said shaft axis, and wherein said second articulation angle is less than said second maximum articulation angle, wherein said articulation motor is further configured to operate at a second motor speed to articulate said surgical end effector from said first articulated position to said first maximum articulated position and from said second articulated position to said second maximum articulated position, wherein said second motor speed differs from said first motor speed, wherein said articulation motor comprises a rotary articulation drive shaft mechanically linked to a switching system for controlling said first motor speed and said second motor speed, and wherein said switching system comprises:

a central limit switch corresponding to said central home position, wherein said central limit switch communicates with a source of power for said articulation motor;

a first maximum limit switch corresponding to said first maximum articulated position, wherein said first maximum limit switch communicates with said source of power; and

a switch traveler movably interfacing with said rotary articulation drive shaft, wherein said switch traveler is configured to move between said first maximum limit switch and said central limit switch as said surgical end effector is articulated between said central home position, said first articulated position, and said first maximum articulated position, wherein said switch traveler is configured to actuate said central limit switch when said surgical end effector is in said central home position, and wherein said switch traveler is configured to actuate said first maximum limit switch when said surgical end effector is in said first maximum articulated position.

10. The surgical instrument of claim 9 , wherein said articulation motor is configured to operate at said second motor speed to articulate said surgical end effector from said first articulated position to a first intermediate articulated position on said first side of said shaft axis, wherein said end effector axis is positioned at a first intermediate articulation angle relative to said shaft axis that is greater than said first articulation angle and less than said first maximum articulation angle and wherein said articulation motor is configured to operate at a third motor speed to articulate said surgical end effector from said first intermediate articulated position to said first maximum articulated position.

11. The surgical instrument of claim 10 , wherein said articulation motor is configured to operate at said second motor speed to articulate said surgical end effector from said second articulated position to a second intermediate articulated position on said second side of said shaft axis, wherein said end effector axis is positioned at a second intermediate articulation angle relative to said shaft axis that is greater than said second articulation angle and less than said second maximum articulation angle, and wherein said articulation motor is configured to operate at said third motor speed to articulate said surgical end effector from said second intermediate articulated position to said second maximum articulated position.

12. The surgical instrument of claim 11 , wherein said third motor speed is equal to said first motor speed.

13. The surgical instrument of claim 9 , wherein said switching system further comprises a second maximum limit switch corresponding to said second maximum articulated position, wherein said switch traveler is configured to move between said second maximum limit switch and said central limit switch as said surgical end effector is articulated between said central home position, said second articulated position, and said second maximum articulated position, and wherein said switch traveler is configured to actuate said second maximum limit switch when said surgical end effector is in said second maximum articulated position.

14. The surgical instrument of claim 9 , further comprising an articulation drive assembly, comprising:

a proximal articulation drive shaft, wherein said proximal articulation drive shaft is configured to receive rotary actuation motions from said articulation motor; and

a distal articulation drive assembly operably interfacing with said proximal articulation drive shaft and said surgical end effector, wherein said distal articulation drive assembly is configured to move axially in response to rotation of said proximal articulation drive shaft.

15. The surgical instrument of claim 14 , wherein said distal articulation drive assembly further comprises:

an intermediate articulation driver threadably attached to said proximal articulation drive shaft such that said intermediate articulation driver moves axially in response to rotation of said proximal articulation drive shaft; and

a distal articulation link attached to said surgical end effector and said intermediate articulation driver.

16. The surgical instrument of claim 9 , wherein said surgical end effector is configured to cut and staple tissue.

Assignments (2)

Continuity (1)

Cited By (112)

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